env_graph_utils.py

from simulation.unity_simulator import comm_unity
import json
from pprint import pprint
import os

DEFAULT_ENV_GRAPHS = 'default_env_graphs.json'

# Generates a json file containing the default scene environment graphs
def generate_default_env_graph_files(comm: comm_unity.UnityCommunication):
  defaults = {}
  for scene_num in range(0, 7):
    print("Getting default graph for scene_num={}".format(scene_num))

    s = comm.reset(scene_num)
    assert s == True

    s, graph = comm.environment_graph()
    assert s == True

    defaults[scene_num] = graph

  with open("default_env_graphs.json", 'w') as ofs:
    json.dump(defaults, ofs)
  

def get_default_env_graph_hashes():
  assert os.path.isfile(DEFAULT_ENV_GRAPHS)

  with open(DEFAULT_ENV_GRAPHS, 'r') as ifs:
    defaults = json.load(ifs)

  hashes = {}
  for key in defaults:
    print("\nscene: {}".format(key))
    rooms = [ node['class_name'] for node in defaults[key]['nodes'] if node['category'] == 'Rooms']
    pprint(rooms)
    string_repr = ''
    for room in rooms:
      string_repr += room

    hash_repr = hash(string_repr)
    print("hash: {}".format(hash_repr))
    hashes[hash_repr] = key

  return hashes

def get_env_graph_hash(graph):
  rooms = [ node['class_name'] for node in graph['nodes'] if node['category'] == 'Rooms']
  print("rooms: {}".format(rooms))

  string_repr = ''
  for room in rooms:
      string_repr += room

  hash_repr = hash(string_repr)
  print("hash: {}".format(hash_repr))

  return hash_repr

    



def main():
  print("Starting Unity server...")
  mode = 'manual' # auto / manual
  if mode == 'auto':
      exec_file = '../simulation/macos_exec'
      comm = comm_unity.UnityCommunication(file_name=exec_file)
  else:
      comm = comm_unity.UnityCommunication(timeout_wait=5*60)
  print("Unity server running")

  # generate_default_env_graph_files(comm)
  get_default_env_graph_hashes()

if __name__ == "__main__":
  main()